TY - CONF AU - Ober-Blöbaum, Sina AU - Vermeeren, M. ID - 29421 T2 - 7th IIFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control LHMNC TI - Superconvergence of galerkin variational integrators VL - 54(19) ER - TY - JOUR AB - Model predictive control is a prominent approach to construct a feedback control loop for dynamical systems. Due to real-time constraints, the major challenge in MPC is to solve model-based optimal control problems in a very short amount of time. For linear-quadratic problems, Bemporad et al. have proposed an explicit formulation where the underlying optimization problems are solved a priori in an offline phase. In this article, we present an extension of this concept in two significant ways. We consider nonlinear problems and - more importantly - problems with multiple conflicting objective functions. In the offline phase, we build a library of Pareto optimal solutions from which we then obtain a valid compromise solution in the online phase according to a decision maker's preference. Since the standard multi-parametric programming approach is no longer valid in this situation, we instead use interpolation between different entries of the library. To reduce the number of problems that have to be solved in the offline phase, we exploit symmetries in the dynamical system and the corresponding multiobjective optimal control problem. The results are verified using two different examples from autonomous driving. AU - Ober-Blöbaum, Sina AU - Peitz, Sebastian ID - 16294 JF - International Journal of Robust and Nonlinear Control TI - Explicit multiobjective model predictive control for nonlinear systems with symmetries VL - 31(2) ER - TY - JOUR AU - Djema, Walid AU - Giraldi, Laetitia AU - Maslovskaya, Sofya AU - Bernard, Olivier ID - 29543 JF - Automatica KW - Electrical and Electronic Engineering KW - Control and Systems Engineering SN - 0005-1098 TI - Turnpike features in optimal selection of species represented by quota models VL - 132 ER - TY - GEN AB - Als Griechenland 1830 seine Unabhängigkeit erlangte, war das Land wirtschaftlich wenig entwickelt und von der Industrialisierung noch kaum berührt. Kredite für die Gründung oder den Ausbau von Unternehmen waren auf Grund des Kapitalmangels entweder unmöglich oder extrem teuer – ein für die wirtschaftliche Entwicklung ernst zu nehmendes Hemmnis. Das Land brauchte zur wirtschaftlichen Entwicklung also Investitionen aus dem Ausland. Jedoch hielten sich die europäischen Banken und Anleger mit solchen Investitionen vor den 1870er Jahren zurück. Warum diese Scheu der Kapitalanleger vor Griechenland, obwohl sie anderswo keineswegs vor risikoreichen Investitionen zurückschreckten, wenn nur entsprechend hohe Erträge lockten? Dieser Frage möchte der Beitrag anhand eines Beispiels nachgehen: der bayerisch-französischen Bankiersfamilie von Eichthal, die in den 1830er Jahren enge Geschäftsbeziehungen nach Griechenland aufbaute und zeitweilig sehr interessiert an Investitionen war – bevor das Bankhaus sich von diesen Plänen schließlich unverrichteter Dinge wieder abwandte. Das kulturelle Interesse an Griechenland überdauerte dagegen bis in die 1880er Jahre. Die Eichthals eignen sich hervorragend, um paradigmatisch zu untersuchen, auf welcher Grundlage und wie europäische Bankiers ihre Investitionsentscheidungen für oder gegen Griechenland trafen. AU - Schönhärl, Korinna ID - 29549 TI - Finanzielle Netze. Die bayerisch–französische Familienbank von Eichthal und ihre Investitionspläne in Griechenland in den 1830er Jahren/ Οικονομικά δίκτυα. Η βαυαρογαλλική οικογενειακή τράπεζα των Άιχταλ και τα επενδυτικά σχέδιά της στην Ελλάδα κατά τη δεκαετία του 1830 ER - TY - CONF AU - Bobolz, Jan AU - Eidens, Fabian AU - Krenn, Stephan AU - Ramacher, Sebastian AU - Samelin, Kai ID - 29566 SN - 0302-9743 T2 - Cryptology and Network Security TI - Issuer-Hiding Attribute-Based Credentials ER - TY - JOUR AU - Hanisch, Simon AU - Arias Cabarcos, Patricia AU - Parra-Arnau, Javier AU - Strufe, Thorsten ID - 28463 JF - CoRR TI - Privacy-Protecting Techniques for Behavioral Data: A Survey VL - abs/2109.04120 ER - TY - CONF AU - Arias Cabarcos, Patricia AU - Habrich, Thilo AU - Becker, Karen AU - Becker, Christian AU - Strufe, Thorsten ED - Bailey, Michael ED - Greenstadt, Rachel ID - 28462 T2 - 30th {USENIX} Security Symposium, {USENIX} Security 2021, August 11-13, 2021 TI - Inexpensive Brainwave Authentication: New Techniques and Insights on User Acceptance ER - TY - GEN AB - Autonomous mobile robots are becoming increasingly more capable and widespread. Reliable Obstacle avoidance is an integral part of autonomous navigation. This involves real time interpretation and processing of a complex environment. Strict time and energy constraints of a mobile autonomous system make efficient computation extremely desirable. The benefits of employing Hardware/Software co-designed applications are obvious and significant. Hardware accelerators are used for efficient processing of the algorithms by exploiting parallelism. FPGAs are a class of hardware accelerators, which can contain hundreds of small execution units, and can be used for Hardware/Software co-designed application. However, there is a reluctance when it comes to adoption of these devices in well established application domains, such as Robotics, due to a steep learning curve needed for FPGA application design. ReconROS has successfully bridged the gap between robotic and FPGA application development, by providing an intuitive, common development platform for robotic application development for FPGA. It does so by integrating Robotics Operating System(ROS) which is an industry and academia standard for robotics application development, with ReconOS, an operating system for re-configurable hardware. In this thesis an obstacle avoidance system is designed and implemented for an autonomous vehicle using ReconROS. The objectives of the thesis is to demonstrate and explore ReconROS integration within the ROS ecosystem and explore the design process within ReconROS framework, and to demonstrate the effectiveness of Hardware Acceleration in Robotics, by analysing the resulting architectures for Latency and Power Consumption. AU - Sheikh, Muhammad Aamir ID - 29540 TI - Design and Implementation of a ReconROS-based Obstacle Avoidance System ER - TY - GEN AB - Robotics applications process large amounts of data in real-time and require compute platforms that provide high performance and energy-efficiency. FPGAs are well-suited for many of these applications, but there is a reluctance in the robotics community to use hardware acceleration due to increased design complexity and a lack of consistent programming models across the software/hardware boundary. In this paper we present ReconROS, a framework that integrates the widely-used robot operating system (ROS) with ReconOS, which features multithreaded programming of hardware and software threads for reconfigurable computers. This unique combination gives ROS2 developers the flexibility to transparently accelerate parts of their robotics applications in hardware. We elaborate on the architecture and the design flow for ReconROS and report on a set of experiments that underline the feasibility and flexibility of our approach. AU - Lienen, Christian AU - Platzner, Marco ID - 22764 T2 - arXiv:2107.07208 TI - Design of Distributed Reconfigurable Robotics Systems with ReconROS ER - TY - CONF AU - Vorbohle, Christian AU - Gottschalk, Sebastian AU - Kundisch, Dennis AU - Engels, Gregor AU - Wünderlich, Nancy ID - 29590 T2 - Tagungsband der contribution at: 17. Internationale Tagung Wirtschaftsinformatik 2022 (WI) TI - A Procedure Model for Enhancing Ideation in the Collaborative Development of Business Ecosystems ER -